Vehicle periphery monitoring device

Abstract

This vehicle periphery monitoring device appropriately determines whether or not an animal detected by an imaging device is a high-risk animal which may possibly contact the vehicle. For example, compared with an animal in a posture with the head facing downwards, an animal in a posture with the head facing upwards is determined to be a high-risk animal which may suddenly bolt, so the latter animal is enclosed in a thick red frame and highlighted as a warning, and an alarm is emitted from speakers.

The invention claimed is: 
     
       1. A vehicle periphery monitoring apparatus for monitoring a periphery of a vehicle using an image captured by an image capturing device mounted on the vehicle, comprising:
 an animal detection processor configured to detect an animal as an object to be monitored from the image; and 
 an animal hazard degree judgment section configured to judge whether the animal is a hazardous animal which may possibly affect travel of the vehicle or not based on a posture shape of the animal which is detected from the image; 
 wherein the animal hazard degree judgment section judges that the animal is a hazardous animal if an angle of a neck of the animal with respect to a torso thereof is directed upwardly in the posture shape of the animal. 
 
     
     
       2. The vehicle periphery monitoring apparatus according to  claim 1 , wherein the animal hazard degree judgment section judges that the animal is a hazardous animal if legs are detected in the posture shape of the animal. 
     
     
       3. The vehicle periphery monitoring apparatus according to  claim 1 , wherein the animal hazard degree judgment section judges that the animal is a hazardous animal if a distance from a position of the animal to a road edge toward which a face of the animal is directed is greater than a predetermined distance in the posture shape of the animal. 
     
     
       4. The vehicle periphery monitoring apparatus according to  claim 2 , wherein when the animal hazard degree judgment section detects a plurality of candidates for the hazardous animals from the image, the animal hazard degree judgment section judges one of the detected candidates for the hazardous animals which contacts a road surface at a position that is closest to the vehicle, as a hazardous animal. 
     
     
       5. The vehicle periphery monitoring apparatus according to  claim 2 , wherein when the animal hazard degree judgment section detects a plurality of candidates for the hazardous animals from the image, the animal hazard degree judgment section judges one of the detected candidates for the hazardous animals that is present in a position closest to a direction of travel of the vehicle, as a hazardous animal. 
     
     
       6. The vehicle periphery monitoring apparatus according to  claim 1 , wherein the image capturing device comprises a single image capturing device.